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I wrote a similar algorithm for pathfinding around vector shapes in Javascript, the implementation was surprisingly simple.

https://github.com/Wazzaps/FastPathfinder

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I’ve reviewed the source code. It seems like starting with clear and accurate information about the obstacles could be an issue. Also, if the obstacles become very large, preprocessing will likely be necessary.

Oh~ That’s awesome! I’ll start analyzing the source code! Thank you!

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